davidmartinez13 / robotiq_3f_ros_pkg

ROS wrapper package that provides functions related to 3-Finger Gripper control of robotiq package(https://github.com/ros-industrial/robotiq) as ROS service

robotiq_3f_ros_pkg

Description

ROS wrapper package that provides functions related to 3-Finger Gripper control of robotiq package(https://github.com/ros-industrial/robotiq) as ROS service

Install

$ cd your_ws/src
$ git clone https://github.com/davidmartinez13/robotiq.git
$ git clone https://github.com/davidmartinez13/robotiq_3f_ros_pkg.git
$ cd ..
$ rosdep install -iry --from-paths src
$ catkin build

Available ROS services

/robotiq_3f_gripper/activate
/robotiq_3f_gripper/reset
/robotiq_3f_gripper/open_hand
/robotiq_3f_gripper/close_hand
/robotiq_3f_gripper/set_mode
/robotiq_3f_gripper/set_position
/robotiq_3f_gripper/set_speed
/robotiq_3f_gripper/set_torque
/robotiq_3f_gripper/get_mode
/robotiq_3f_gripper/get_position
/robotiq_3f_gripper/get_speed
/robotiq_3f_gripper/get_torque

Available gripper mode

• basic
• pinch
• wide
• scissor

Usage

Spawn simplified robotiq in gazebo:

roslaunch robotiq_3f_gazebo spawn_robotiq_3f_gripper.launch

Control the gripper with ros services:

• If not on sim, launch the listener:

  roslaunch robotiq_3f_driver listener.launch ip_address:=192.168.1.11
  

• If in sim, load macro gripper:

  roslaunch robotiq_3f_gripper_articulated_gazebo robotiq_gripper_empty_world_macro.launch
  

  Then launch the listener for sim:

  roslaunch robotiq_3f_driver listener_sim.launch
  

  Both ways the ROS services and gripper will be activated.

Try sending some commands as:

rosservice call /robotiq_3f_gripper/activate
rosservice call /robotiq_3f_gripper/set_mode wide
rosservice call /robotiq_3f_gripper/set_position 200
rosservice call /robotiq_3f_gripper/set_position 150
rosservice call /robotiq_3f_gripper/set_position 0

CI

Replace the repository specific keywords in the above link as follows:

• <your_repo> -> robotiq_3f_ros_pkg
• <your_pkg> -> robotiq_3f_control, robotiq_3f_description, robotiq_3f_driver, robotiq_3f_gazebo, robotiq_3f_srvs
• <your_rosinstall_dir> -> .